JP2015002791A - Wireless communication system, wireless terminal apparatus, and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wireless communication system capable of intuitively controlling the posture of a capsule having an imaging function, a wireless terminal apparatus and a storage medium.SOLUTION: The wireless communication system includes a wireless capsule and a wireless terminal apparatus. The wireless capsule includes: an imaging section; a posture control section; a first wireless communication section which transmits an image captured by the imaging section and receives a control signal for controlling the posture control section; and a power supply section which supplies power to the imaging section and the posture control section. The wireless terminal apparatus includes: a second wireless communication section which receives the image transmitted from the first wireless communication section and transmits the control signal; a display control section which controls the image so as to be displayed on a display section; a posture detection section which detects the posture of the display section; and a generation section which generates the control signal on the basis of a posture signal detected by the posture detection section.

Description

  The present disclosure relates to a wireless communication system, a wireless terminal device, and a storage medium.

  In recent years, capsule endoscopes incorporating cameras have been proposed. For example, Patent Document 1 below discloses a capsule medical device having a camera and illumination function and a function of releasing a drug from an opening of a capsule.

JP 2003-325438 A

  However, the above-described movement of the capsule in the body is naturally performed by visceral movement (peristaltic movement), so it takes time to reach the target affected part, and the direction of the capsule in the body is controlled from the outside. It was difficult to do so, and it was difficult to accurately photograph the affected area.

  Therefore, the present disclosure proposes a wireless communication system, a wireless terminal device, and a storage medium that can intuitively control the posture of a capsule having an imaging function.

  According to the present disclosure, an imaging unit, an attitude control unit, a first wireless communication unit that transmits an image captured by the imaging unit and receives a control signal for controlling the attitude control unit; A wireless capsule having a power supply unit that supplies power to the imaging unit and the attitude control unit; and a second that receives the image transmitted from the first wireless communication unit and transmits the control signal A wireless communication unit; a display control unit that controls to display the image on the display unit; a posture detection unit that detects a posture of the display unit; and the control signal based on a posture signal detected by the posture detection unit A wireless communication system including a generation unit that generates a wireless terminal device is proposed.

  According to the present disclosure, a wireless communication unit that receives an image transmitted from a wireless capsule and transmits a control signal for controlling the attitude of the wireless capsule, and a display control unit that controls the display unit to display the image And a generation unit that generates the control signal based on the attitude signal detected by the attitude detection unit and a attitude detection unit that detects the attitude of the display unit.

  According to the present disclosure, a computer receives an image transmitted from a wireless capsule and controls a wireless communication unit that transmits a control signal for controlling the attitude of the wireless capsule, and causes the display unit to display the image. A program for functioning as a display control unit, a posture detection unit that detects the posture of the display unit, and a generation unit that generates the control signal based on a posture signal detected by the posture detection unit is stored. In addition, a storage medium is proposed.

  As described above, according to the present disclosure, it is possible to intuitively control the posture of a capsule having an imaging function.

It is a figure for explaining an outline of a control system by one embodiment of this indication. It is a block diagram which shows an example of a structure of the wireless capsule by 1st Embodiment. It is a figure for demonstrating arrangement | positioning of the several drive part by 1st Embodiment. It is a figure for demonstrating arrangement | positioning of the several drive part by the modification of 1st Embodiment. It is a block diagram which shows an example of a structure of the radio relay apparatus by 1st Embodiment. It is a block diagram which shows an example of a structure of HMD by 1st Embodiment. It is a figure for demonstrating the case where the attitude | position of a wireless capsule is controlled substantially the same as the attitude | position change of HMD. It is a flowchart which shows the operation | movement process at the time of the test | inspection of the control system by 1st Embodiment. It is a flowchart which shows the operation | movement process at the time of the treatment of the control system by 1st Embodiment. It is a figure for demonstrating an example of the display screen displayed on the display part of HMD. It is a block diagram which shows an example of a structure of the wireless capsule by 2nd Embodiment. It is a block diagram which shows an example of a structure of the radio relay apparatus by 2nd Embodiment. It is a block diagram which shows an example of a structure of HMD by 2nd Embodiment. It is a figure for demonstrating the method to estimate the position of the wireless capsule by 2nd Embodiment. It is a flowchart which shows the operation | movement process at the time of the treatment of the control system by 2nd Embodiment.

  Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

The description will be made in the following order.
1. 1. Overview of control system according to an embodiment of the present disclosure First embodiment 2-1. Configuration 2-2. 2. Operation processing Second embodiment 3-1. Configuration 3-2. Operation processing Summary

<< 1. Overview of a control system according to an embodiment of the present disclosure >>
First, an overview of a control system according to an embodiment of the present disclosure will be described with reference to FIG. As shown in FIG. 1, the wireless capsule (capsule medical device) 1 according to this embodiment is swallowed from the mouth of a subject 5 and optically passes through the inner wall surface of the body cavity when passing through the body cavity channel. The captured image signal (captured image) is transmitted wirelessly.

  As shown in FIG. 1, the wireless capsule 1 has, for example, a substantially cylindrical shape, and is covered with an outer case 40 that is closed by rounding the rear end of the wireless capsule 1. A hemispherical transparent cover 41 is connected and fixed to the front end portion of the outer case 40 in a watertight manner. As shown in FIG. 1, an imaging unit (including an imaging lens) 10 is disposed in the sealed container inside the transparent cover 41 so as to face the transparent cover 41. An illumination unit (not shown) may be disposed around the imaging unit 10.

  As shown in FIG. 1, the wireless relay device 2 is attached to the body surface of the subject 5. The wireless relay device 2 is provided with a plurality of wireless communication units 21 (wireless communication units 21a, 21b, 21c, etc.). The wireless relay device 2 has a function of relaying data communication between the wireless capsule 1 and an HMD (Head Mounted Display) 3 worn by the doctor 6. The wireless communication unit 21 provided in the wireless relay device 2 is not limited to the form attached to the body surface as shown in FIG. 1, and may be installed at a predetermined position in the body.

  The HMD 3 is an example of a wireless terminal device. For example, the HMD 3 has a mounting unit having a frame structure that circulates halfway from both heads to the back of the head. Installed. Moreover, HMD1 becomes a structure by which the display part 32 is arrange | positioned just before both eyes of the doctor 6 in the mounting state. The display unit 32 displays, for example, an in-vivo captured image (hereinafter also referred to as an in-vivo image) captured by the wireless capsule 1 and transmitted via the wireless relay device 2.

  The wireless capsule 1 and the HMD 3 may directly transmit and receive data without using the wireless relay device 2.

  Here, as described above, in the conventional capsule medical device, movement in the body is naturally performed by visceral movement (peristaltic movement), and thus it is difficult to control the direction of the capsule in the body from the outside. It was difficult to accurately photograph the affected area.

  Therefore, according to the present embodiment, the in-vivo image is displayed on the HMD 3 and the posture of the wireless capsule 1 having an imaging function (specifically, the imaging direction) is controlled according to the movement of the HMD 3, thereby A system capable of intuitively controlling the posture is provided.

  The overview of the control system according to the embodiment of the present disclosure has been described above. Next, a control system (wireless communication system) according to the present disclosure will be specifically described using a plurality of embodiments.

<< 2. First Embodiment >>
<2-1. Configuration>
The control system (wireless communication system) according to the first embodiment includes a wireless capsule 1-1, a wireless relay device 2-1, and an HMD 3-1, and the wireless capsule 1-1 is a beacon radio wave for notifying its own position. (Specifically, it has a function of transmitting microwaves or the like). Hereinafter, the configuration of each device forming the control system (wireless communication system) according to the present embodiment will be specifically described with reference to FIGS.

(2-1-1. Configuration of wireless capsule)
FIG. 2 is a block diagram illustrating an example of the configuration of the wireless capsule 1-1 according to the first embodiment. As illustrated in FIG. 2, the wireless capsule 1-1 according to the present embodiment includes an imaging unit 10, a wireless communication unit 11 (first wireless communication unit), an attitude control unit 12, an attitude sensor unit 13, a power generation unit 14, and a power storage. Unit 15, radio wave transmission unit 16, drive unit 17, and treatment unit 18.

  As shown in FIG. 1, the imaging unit 10 is disposed inside the transparent cover 41 and images the inside of the body cavity duct when the wireless capsule 1-1 is moving inside the body. The imaging unit 10 may have an independently movable configuration in which the shooting direction can be changed up and down, left and right, and the like. Thereby, even if it does not change the direction of the wireless capsule 1-1 main body, the affected part can be more accurately imaged by changing the direction of the imaging unit 10 (at least the imaging lens included in the imaging unit 10).

  The wireless communication unit 11 (first wireless communication unit) wirelessly connects to the wireless relay device 2-1 or the HMD 3-1 mounted on the body surface of the subject 5 and transmits and receives data. For example, the wireless communication unit 11 transmits the in-vivo image captured by the imaging unit 10 to the HMD 3-1 via the wireless relay device 2. Further, the wireless communication unit 11 receives a control signal for controlling an attitude control unit 12 described later from the HMD 3-1 via the wireless relay device 2-1.

  The posture control unit 12 has a function of controlling the posture of the main body of the wireless capsule 1 or the independently movable imaging unit 10 according to the control signal received by the wireless communication unit 11 and directing the photographing direction in an arbitrary direction. The control of the posture of the wireless capsule 1 main body can be realized by controlling the drive unit 17 described later, for example. Further, the posture control unit 12 refers to the posture signal of the main body of the wireless capsule 1-1 detected by the posture sensor unit 13, and controls the wireless capsule 1-1 in the posture (imaging direction) according to the control signal. .

  The attitude sensor unit 13 has a function of detecting the attitude of the main body of the wireless capsule 1-1. The attitude sensor unit 13 outputs the detected attitude signal from the wireless communication unit 11 to the HMD 3-1 and / or the attitude control unit 12. The attitude sensor unit 13 is realized by, for example, a triaxial acceleration sensor. The posture sensor unit 13 further includes a gyro sensor, and can detect a more accurate posture signal.

  The power generation unit 14 has a function of generating electric power, and sends the generated electric power to the power storage unit 15. The power generation unit 14 receives power transmitted from the wireless power supply unit 22 of the wireless relay device 2-1, for example, by a radio wave method, an electric field coupling method, an electromagnetic induction method, or a magnetic field resonance method. In addition, as will be described later, the power generation unit 14 may be realized by a plurality of rectennas (rectifying antennas) that generate power by resonating with radio waves having different frequencies.

  In addition, the power generation unit 14 is not limited to wireless power feeding from the outside (wireless relay device 2-1), and may be realized by a battery that can generate power by itself. For example, the power generation unit 14 may generate power through a MEMS gyro or the like using power generation using body fluid as an electrolytic solution or kinetic energy (acceleration) in peristaltic motion (natural motion).

  The power storage unit 15 has a function of charging power generated by the power generation unit 14. The power storage unit 15 supplies power to each component of the wireless capsule 1-1.

  The radio wave transmission unit 16 has a function of transmitting a radio wave such as a microwave and continuously transmits the radio wave. The radio wave is used when estimating the position of the wireless capsule 1-1 described later.

  The drive unit 17 has a function of moving the wireless capsule 1-1 in the body (self-running function), and is realized by, for example, a micromotor, a caterpillar, or a spiral member (screw member). Thereby, the wireless capsule 1-1 according to the present embodiment can reach the affected part earlier than the natural movement by the peristaltic movement.

  The drive unit 17 may be driven and controlled by the wireless communication unit 11 according to a control signal received from the HMD 3-1 via the wireless relay device 2-1. For example, when the wireless capsule 1 is moving in a portion far from the affected area, a control signal instructing to increase the moving speed is transmitted from the HMD 3-1, so that the driving unit 17 is driven to move quickly according to the control signal. Control. Thereby, the whole examination / treatment time by the wireless capsule 1 can be shortened.

  Moreover, the drive part 17 does not self-propel partly, but it is also possible to implement | achieve energy saving by using together the movement by a peristaltic motion.

  In addition, the wireless capsule 1-1 according to the present embodiment is provided with a plurality of driving units 17, and the posture of the wireless capsule 1-1 can be controlled by being driven according to the control by the posture control unit 12. An arrangement example of the plurality of drive units 17 will be described with reference to FIGS. 3 and 4.

  FIG. 3 is a diagram for explaining the arrangement of the plurality of drive units 17a and 17b according to the first embodiment. As shown in FIG. 3, drive units 17 a and 17 b formed by, for example, a micromotor (for example, MEMS: Micro Electro Mechanical Systems) may be arranged in the biaxial direction of the wireless capsule 1. In this case, the posture control unit 12 can control the direction (posture) of the wireless capsule 1-1 by driving at least one of the drive units 17a and 17b.

  Further, the shape of the wireless capsule 1-1 according to the present embodiment is not limited to a substantially cylindrical shape as shown in FIG. 3, and may be, for example, a spherical shape. Here, the arrangement of the plurality of drive units 17 in the spherical wireless capsule 1-1 'will be described with reference to FIG.

  FIG. 4 is a diagram for explaining an arrangement of a plurality of drive units 17a ′, 17b ′, and 17c ′ according to a modification of the first embodiment. As shown in FIG. 4, drive units 17 a ′, 17 b ′, and 17 c ′ formed by, for example, a micro motor may be arranged in the three-axis directions of the wireless capsule 1-1 ′. In this case, the posture control unit 12 can control the direction (posture) of the wireless capsule 1-1 ′ by driving at least one of the drive units 17 a ′, 17 b ′, and 17 c ′.

  As described above, when the wireless capsule 1-1 is provided with the plurality of driving units 17, the posture control unit 12 controls the direction (posture) of the wireless capsule 1-1 main body using the plurality of driving units 17. can do. Note that a plurality of power generation units 14 that respectively supply power to the plurality of drive units 17 may be provided, and the plurality of power generation units 14 may be realized by a plurality of rectennas that generate power by resonating with a plurality of radio waves having different frequencies. . In this case, the plurality of drive units 17 are driven according to different frequencies transmitted from the wireless relay device 2-1, so that attitude control is substantially realized. At this time, the wireless relay device 2-1 performs power transmission using radio waves of different frequencies so as to control the attitude of the wireless capsule 1-1 according to the control signal from the HMD 3-1.

  The treatment unit 18 has a function of performing predetermined treatment on the affected part according to the control signal received by the wireless communication unit 11. Specifically, for example, the treatment unit 18 releases a drug, releases a microwave, or cuts an affected part. In addition, when it is necessary to temporarily stop near the affected area and perform treatment, the wireless capsule 1-1 main body can be moved by sandwiching an inner wall near the affected area or by inflating a balloon having a telescopic and airtight function. It stops by the stop part (not shown) which can stop at the predetermined position in a body cavity.

  The configuration of the wireless capsule 1-1 according to the first embodiment has been described above. The configuration illustrated in FIG. 2 is an example, and the configuration of the wireless capsule 1-1 is not limited to the example illustrated in FIG. For example, the wireless capsule 1-1 may be configured without the drive unit 17 and the treatment unit 18.

(2-1-2. Configuration of Wireless Relay Device)
FIG. 5 is a block diagram illustrating an example of the configuration of the wireless relay device 2-1 according to the first embodiment. As illustrated in FIG. 5, the wireless relay device 2-1 according to the present embodiment includes a power supply unit 20, a plurality of wireless communication units 21a, 21b, and 21c (hereinafter collectively referred to as a plurality of wireless communication units 21), and wireless power. A supply unit 22 is included.

  The power supply unit 20 has a function of controlling power ON / OFF of the wireless relay device 2-1, and supplying power to each component when the power is ON. The power ON / OFF can be controlled according to a user operation, for example.

  The plurality of wireless communication units 21 (third wireless communication units) have a function of performing data transmission / reception with the wireless capsule 1-1 and data transmission / reception with the HMD 2. For example, the plurality of wireless communication units 21 receive an in-vivo image from the wireless capsule 1-1 and transmit it to the HMD 3-1, or instruct a control signal (for example, attitude control of the wireless capsule 1-1 main body) from the HMD 3-1. Control signal) is transmitted to the wireless capsule 1-1. Thereby, the radio relay apparatus 2-1 according to the present embodiment can relay data communication between the radio capsule 1-1 and the HMD 3-1.

  The plurality of wireless communication units 21 receive radio waves continuously transmitted from the radio wave transmission unit 16 of the wireless capsule 1-1 and transmit information (intensity and / or phase) of the received radio waves to the HMD 3-1. To do. On the HMD 3-1 side, the position of the wireless capsule 1-1 in the body is estimated based on the radio wave information. The plurality of wireless communication units 21 may transmit and receive radio waves to each other and output the received radio wave information together to the HMD 3-1, thereby causing a plurality of wireless communication units to be described later on the HMD 3-1 side. The radio wave propagation characteristics between 21 are measured, and the position of the wireless capsule 1-1 is estimated more accurately.

  The wireless power supply unit 22 supplies wireless power to the wireless capsule according to a control signal (for example, a control signal instructing power supply) received from the HMD 2 by the wireless communication unit 21. The wireless power supply unit 22 transmits (supplies) power by, for example, an electromagnetic induction method, a radio wave method, or an electromagnetic resonance method.

  In addition, the wireless power supply unit 22 may supply power using radio waves having different frequencies in accordance with a control signal received from the HMD 2 and instructing attitude control of the wireless capsule 1-1. As a result, the plurality of drive units 17 (see FIGS. 3 and 4) of the wireless capsule 1-1 are driven, and the posture of the wireless capsule 1-1 is controlled.

(2-1-3. Configuration of HMD)
FIG. 6 is a block diagram illustrating an example of the configuration of the HMD 3-1 according to the first embodiment. As shown in FIG. 6, the HMD 3-1 according to the present embodiment includes a display control unit 30, a wireless communication unit 31 (second wireless communication unit), a display unit 32, an attitude sensor unit 33, a generation unit 34, and a power supply unit 35. , An operation input unit 36 and a position estimation unit 37.

  The display unit 32 is arranged in front of both eyes of the doctor 6 in a state where the HMD 3-1 is attached to the doctor 6. The display unit 32 has a function of displaying a screen including an image and text under the control of the display control unit 30. The display unit 32 may be realized by an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), a CRT (Cathode Ray Tube), or the like.

  The display control unit 30 performs display control of the display unit 32. For example, the display control unit 30 controls the wireless communication unit 31 to display the in-vivo image received from the wireless capsule 1-1 via the wireless relay device 2-1. In addition, the display control unit 30 controls to display an image indicating the position of the wireless capsule 1-1 estimated by the position estimation unit 37 in the body. A specific example of the image displayed on the display unit 32 will be described later with reference to FIG.

  The wireless communication unit 31 (second wireless communication unit) wirelessly connects to the wireless relay device 2-1 or the wireless capsule 1-1, and transmits and receives data. Specifically, for example, the wireless communication unit 31 receives the in-vivo image from the wireless capsule 1-1 via the wireless relay device 2-1, or the radio wave information (the radio wave received from the wireless capsule 1 from the wireless capsule 1). Intensity and / or phase). The wireless communication unit 31 outputs the received in-vivo image to the display control unit 30 and the received radio wave information to the position estimation unit 37.

  The wireless communication unit 31 generates a control signal for controlling the wireless power supply unit 22 of the wireless relay device 2-1, a control signal for controlling the attitude of the wireless capsule 1-1, and the like by the generation unit 34. Each control signal thus transmitted is transmitted.

  The attitude sensor unit 33 functions as an attitude detection unit that detects the attitude of the main body of the HMD 3-1 or the attitude of the display unit 32. Specifically, when the HMD 3-1 and the display unit 32 are integrated, the doctor 6 intuitively controls the posture of the wireless capsule 1-1 by moving the head while viewing the in-vivo image displayed on the display unit 32. Therefore, the attitude sensor unit 33 may detect the attitude of the HMD 3-1 main body.

  The attitude sensor unit 33 is realized by a triaxial acceleration sensor, for example. The attitude sensor unit 33 further includes a gyro sensor and can detect a more accurate attitude signal.

  Here, the HMD 3-1 is an example of a wireless terminal device according to the present disclosure, and the wireless terminal device according to the present disclosure is not limited to a wearable device for a head as illustrated in FIG. For example, the wireless terminal device includes a glasses-type display device in which the display unit 32 is provided in the lens portion, and an information processing device (for example, a PC, a tablet terminal, a smartphone, etc.) that is placed around the doctor 6 and connected to the display device. ). In this case, since the doctor 6 intuitively controls the posture of the wireless capsule 1-1 by moving the head while viewing the in-vivo image displayed on the display unit 32, the posture sensor unit 33 is configured to display the posture signal of the display unit 32. Is received from a glasses-type display device.

  The generation unit 34 generates a control signal for controlling the posture control unit of the wireless capsule 1-1 based on the posture signal detected by the posture sensor unit 33. Specifically, the generation unit 34 is, for example, the wireless capsule 1-1 or the imaging unit provided in the wireless capsule 1-1 in the same direction as the posture change direction indicated by the posture signal detected by the posture sensor unit 33. A control signal for controlling the 10 postures is generated. FIG. 7 is a diagram for explaining a case where the attitude of the wireless capsule 1-1 is controlled substantially the same as the attitude change of the HMD 3-1.

  As shown in FIG. 7, the doctor 6 looks at the in-vivo image (the image in the body cavity imaged by the imaging unit 10 of the wireless capsule 1-1) displayed on the display unit 32 of the HMD 3-1 worn on the head. The posture of the wireless capsule 1-1 can be intuitively controlled in real time by moving the head up and down, left and right, and rotating the head. For example, when the doctor 6 moves his / her head to the right in order to observe the affected area more accurately around the affected area, the posture sensor unit 33 of the HMD 3-1 detects a change in posture in the right direction. Next, the generation unit 34 generates a control signal for instructing to control the posture in the right direction based on the posture change in the right direction detected by the posture sensor unit 33, and the wireless relay device 2 from the wireless communication unit 31. -1 to the wireless capsule 1-1. Based on the control signal received by the wireless communication unit 11, the posture control unit 12 of the wireless capsule 1-1 controls the drive unit 17 to control the posture of the wireless capsule 1-1 in the right direction.

  Here, the control signal generated by the generation unit 34 is not limited to the one that is always synchronized with the posture signal (movement of the HMD 3-1) detected by the posture sensor unit 33. For example, when the doctor 6 is facing the right for a while, the generation unit 34 may generate a control signal instructing the wireless capsule 1-1 to move forward after the posture change in the right direction. When the doctor 6 turns right once and returns to the front, the generation unit 34 generates a control signal that instructs the wireless capsule 1-1 to remain in the right direction.

  Further, the generation unit 34 generates a control signal for controlling the movement (drive) of the wireless capsule 1-1. For example, when the position of the wireless capsule 1-1 estimated by the position estimation unit 37 in the body is far from the affected part, the generation unit 34 generates a control signal that instructs to increase the moving speed.

  Further, the generation unit 34 generates a control signal for controlling imaging by the imaging unit 10 of the wireless capsule 1-1. For example, when the position of the wireless capsule 1-1 estimated by the position estimation unit 37 in the body is around the affected area, the generation unit 34 generates a control signal instructing to start imaging.

  In addition, the generation unit 34 generates a control signal for controlling the treatment unit 18 of the wireless capsule 1-1. For example, the generation unit 34 generates a control signal instructing to start predetermined treatment when the position in the body of the wireless capsule 1-1 estimated by the position estimation unit 37 is around the affected part, or according to a user operation. To do.

  The generation unit 34 generates a control signal for instructing the wireless power supply unit 22 of the wireless relay device 2-1 to supply wireless power to the wireless capsule 1-1.

  As described above, the generation unit 34 according to the present embodiment performs each control (posture control, drive control, imaging control, treatment control, power supply control, etc.) of the wireless capsule 1-1 and the wireless relay device 2-1. A control signal is generated and output to the wireless communication unit 31.

  The position estimation unit 37 estimates the position of the wireless capsule 1-1 in the body based on the radio wave information (information indicating the intensity and / or phase of the radio wave) received by the radio communication unit 31 from the radio relay apparatus 2-1. To do. Specifically, for example, the position estimation unit 37 is based on each radio wave information acquired by receiving a radio wave continuously transmitted by the radio capsule 1-1 by the plurality of radio communication units 21 of the radio relay apparatus 2-1. The relative position of the wireless capsule 1-1 with respect to the plurality of wireless communication units 21 is estimated. When the positions of the plurality of wireless communication units 21 are known, the position estimation unit 37 can estimate the position of the wireless capsule 1-1 in the body.

  At this time, the position estimation unit 37 transmits a transfer function in the body according to the radio wave propagation characteristics between the plurality of wireless communication units 21 based on the radio wave information received by each of the plurality of wireless communication units 21 transmitting and receiving radio waves. By using this, the position of the wireless capsule 1-1 can be estimated more accurately. For example, the position estimation unit 37 includes a transfer function in the body of the subject 5 measured before the wireless capsule 1-1 is introduced into the subject 5, and the body of the subject 5 measured after the introduction of the wireless capsule 1-1. And the transfer function change (difference) is extracted. The position estimation unit 37 grasps the relative position of the wireless capsule 1-1 estimated from the change (difference) in the transfer function in the body of the subject 5. And the position estimation part 37 of the radio | wireless capsule 1-1 estimated based on the relative position of the radio | wireless capsule 1-1 estimated by the change of the transfer function in a body, and the information of the electromagnetic wave from the radio | wireless capsule 1-1 mentioned above. The relative position is compared and the estimated position is corrected.

  The position estimation unit 37 transmits the estimated position information to the generation unit 34 and the display control unit 30.

  The operation input unit 36 has a function of detecting a user operation and receiving an operation input. For example, the operation input unit 36 receives an ON / OFF operation of the power supply unit 35. The operation input unit 36 receives a treatment start instruction, a display screen switching instruction, and the like, and outputs the input user operation information to the generation unit 34 and the display control unit 30.

  The power supply unit 35 has a function of supplying power to each component of the HMD 3-1.

  The configuration of each device forming the control system (wireless communication system) according to the present embodiment has been specifically described above. Subsequently, an operation process of the control system according to the present embodiment will be described.

<2-2. Operation processing>
The wireless capsule 1-1 according to the present embodiment can be used at the time of examination for the purpose of searching for an affected area or at the time of treatment for the purpose of treatment when the affected area has already been discovered (the position of the affected area is known). . Accordingly, the operation process during the examination will be described below with reference to FIG. 8, and the operation process during the treatment will be described with reference to FIG.

(2-2-1. During inspection)
FIG. 8 is a flowchart showing an operation process at the time of inspection of the control system according to the first embodiment. As shown in FIG. 8, first, in step S103, the wireless capsule 1-1 is introduced into the body of the patient (subject 5), and naturally moves in the body by self-running or peristaltic movement.

  Next, in step S106, the wireless capsule 1-1 captures an image of the inside of the body by the imaging unit 10 while moving inside the body. The trigger for starting self-running or imaging of the wireless capsule 1-1 is that, for example, when a switch (not shown) of the wireless capsule 1-1 is turned on, pressure is applied to the entire wireless capsule 1-1 from the outside. (When pressure is applied by the tongue or teeth in the mouth) or when power is transmitted from the wireless relay device 2-1.

  Next, in step S <b> 109, the wireless capsule 1-1 detects the posture of the wireless capsule 1-1 body by the posture sensor unit 13.

  Next, in step S112, the wireless capsule 1-1 transmits the in-vivo image captured by the imaging unit 10 and the posture signal detected by the posture sensor unit 13 by the wireless communication unit 11 via the wireless relay device 2-1. To the HMD 3-1.

  Next, in step S115, the HMD 3-1 receives the in-vivo image and the posture signal through the wireless communication unit 31, and the display control unit 30 receives the current in-body of the wireless capsule 1-1 based on the in-vivo image and the posture signal. The posture (orientation) is displayed on the display unit 32. Thereby, the doctor 6 wearing the HMD 3-1 can check the in-vivo image of the subject 5 (patient) in real time and perform an examination. In addition, since the posture of the wireless capsule 1-1 in the body is also presented, the doctor 6 can easily recognize which direction the in-vivo image is currently displayed.

  Subsequently, when the wireless capsule 1-1 has not moved to the place where the examination is completed (S118 / No), in step S121, the HMD 3-1 responds to the movement of the head of the doctor wearing the HMD 3-1 main body. The posture signal is detected by the posture sensor unit 33.

  Next, in step S124, the generation unit 34 of the HMD 3-1 generates a control signal for controlling the posture of the wireless capsule 1-1 based on the posture signal detected by the posture sensor unit 33, and the wireless communication unit 31 to the HMD 3-1 via the wireless relay device 2-1.

  In step S127, the posture control unit 12 of the wireless capsule 1-1 controls the posture of the main body of the wireless capsule 1-1 according to the control signal received by the wireless communication unit 11. Thereby, the doctor 6 can intuitively control the posture of the wireless capsule 1-1 in real time by moving the head on which the HMD 3-1 is worn, so that the examination inside the body can be performed more accurately. it can.

  Steps S106 to S115 and S121 to S127 described above are repeated until the wireless capsule 1-1 moves to the location where the examination is completed in step S118. Whether the doctor 6 has moved to the end of the examination may be judged and instructed from the HMD 3-1, or when the position of the wireless capsule 1-1 in the body is automatically estimated, The generation unit 34 may generate a control signal for instructing the end of inspection (stop imaging) and transmit it to the wireless capsule 1-1.

(2-2-2. During treatment)
Next, the operation process of the control system at the time of treatment will be described. Here, it is assumed that the position of the affected part is known. FIG. 9 is a flowchart showing an operation process during treatment of the control system according to the first embodiment. As shown in FIG. 9, first, in step S203, the wireless capsule 1-1 is introduced into the body of the patient (subject 5).

  Next, in step S206, the radio wave transmission unit 16 of the wireless capsule 1-1 transmits a beacon radio wave while moving in the body.

  Next, in step S209, the radio relay apparatus 2-1 receives a beacon radio wave from the radio capsule 1-1 moving in the body, detects information (radio wave intensity and / or phase) of the radio wave, and performs HMD3- 1 to send.

  Next, in step S212, the position estimation unit 37 of the HMD 3-1 estimates the position of the wireless capsule 1-1 in the body based on the radio wave information received from the wireless relay device 2-1.

  Next, in step S215, the generation unit 34 of the HMD 3-1 determines whether or not the position of the wireless capsule 1-1 estimated by the position estimation unit 37 is an area close to the affected area (surrounded area).

  When the area is not close to the affected area (S215 / No), in step S218, the generation unit 34 of the HMD 3-1 generates a control signal instructing to move the wireless capsule 1-1 to the area close to the affected area, and wirelessly relays it. It transmits to the wireless capsule 1-1 through the device 2-1. Here, the production | generation part 34 can shorten the whole treatment time by the wireless capsule 1-1 by producing | generating and transmitting the control signal which instruct | indicates to make a moving speed fast.

  On the other hand, if the area is close to the affected part (S215 / Yes), in step S219, the HMD 3-1 acquires the in-vivo image from the wireless capsule 1-1 and displays it on the display unit 32. Specifically, for example, the generation unit 34 of the HMD 3-1 generates a control signal instructing start of imaging and transmits the control signal to the wireless capsule 1-1. The imaging unit 10 of the wireless capsule 1-1 starts in-vivo imaging according to the control signal received from the HMD 3-1, and continuously transmits in-vivo images to the HMD 3-1. Thereby, the doctor 6 wearing the HMD 3-1 can confirm the in-vivo image of the subject 5 (patient) in real time after the wireless capsule 1-1 approaches the affected part, and the enormous amount from the start of the examination. There is no need to continue to check in-vivo images. Further, the display control unit 30 of the HMD 3-1 may present the position of the wireless capsule 1-1 estimated by the position estimation unit 37 together with the in-vivo map. Thereby, the doctor 6 can easily grasp where the wireless capsule 1-1 is currently located in the body. Here, a display example on the display unit 32 will be described with reference to FIG.

  FIG. 10 is a diagram for explaining an example of a display screen displayed on the display unit 32 of the HMD 3-1. As illustrated in FIG. 10, the display unit 32 includes an in-vivo map 321, an in-vivo image 322, and a posture presentation image 323 that presents the posture of the wireless capsule 1-1.

  The in-vivo map 321 may be a map image (front view) according to the average arrangement and size of organs in the body, or by actually scanning the body of the subject 5 before introducing the wireless capsule 1-1. It may be a generated personalized map image (front view). Further, in the in-vivo map 321, as shown in FIG. 10, a mark indicating the affected part and a mark indicating the current wireless capsule 1-1 are superimposed and displayed. Thereby, the doctor 6 can grasp | ascertain intuitively the position in the body of the present wireless capsule 1-1, and the position of an affected part.

  The in-vivo image 322 is an image continuously transmitted from the wireless capsule 1-1, and the doctor 6 can check the in-vivo image in real time.

  The posture presentation image 323 is an image indicating the posture of the wireless capsule 1-1 currently based on the posture signal detected by the posture sensor unit 33 of the wireless capsule 1-1. The posture presentation image 323 may be generated as a three-dimensional image. In addition, the posture of the wireless capsule 1-1 presented in the posture presentation image 323 is a posture with respect to the in-vivo map 321 (for example, a front view).

  Next, in step S221, the HMD 3-1 moves the wireless capsule 1-1 to the affected area based on the accurate position of the wireless capsule 1-1. Specifically, the position estimation unit 37 of the HMD 3-1 can estimate the more accurate position by analyzing the in-vivo image in addition to the information of the beacon radio wave from the wireless capsule 1-1. Then, the generation unit 34 of the HMD 3-1 moves the wireless capsule 1-1 to the affected area according to the position estimated more accurately in this way, and further sets the wireless capsule 1-1 (or the imaging direction to face the affected area). A control signal for controlling the posture of the imaging unit 10) capable of independently changing the direction is generated and transmitted.

  The HMD 3-1 generates and transmits a control signal for controlling the posture of the wireless capsule 1-1 based on the posture signal detected by the posture sensor unit 33 according to the movement of the head of the doctor 6. May be. In this manner, the doctor 6 can intuitively control the posture of the wireless capsule 1-1 by moving the head in the direction in which he wants to see the head while confirming the in-vivo image displayed on the display unit 32. 1-1 can be moved to the affected area more accurately.

  Next, in step S224, when the position of the wireless capsule 1-1 moves to the vicinity of the affected area, the generation unit 34 of the HMD 3-1 generates a control signal instructing to stop near the affected area, and the wireless relay device 2- 1 to the wireless capsule 1-1. The wireless capsule 1-1 is stopped near the affected part by a stop part (not shown) according to the received control signal. In addition, since it is not always necessary to stop near the affected part depending on the content of the treatment, in this case, the generation unit 34 does not generate a control signal instructing the stop. In addition, the generation unit 34 generates a control signal that instructs the affected part to perform predetermined treatment, and transmits the control signal to the wireless capsule 1-1 through the wireless relay device 2-1. In addition, the stop and treatment control signals may be generated at the timing and content according to the instruction from the doctor 6 (user operation input by the operation input unit 36).

  Next, in step S227, when the treatment is completed, the wireless capsule 1-1 ends the transmission of the in-vivo image. If the wireless capsule 1-1 has stopped near the affected area, the wireless capsule 1-1 cancels the stop and restarts the in-vivo movement.

  Subsequently, in step S230, the HMD 3-1 determines whether or not the treatment of all affected areas has been completed, and repeats the above S206 to S227 until the treatment of all affected areas is completed.

  Then, when the treatment of all the affected areas is completed (S230 / Yes), in step S233, the HMD 3-1 controls to discharge the wireless capsule 1-1 from the body. Specifically, the generation unit 34 of the HMD 3-1 may generate a control signal instructing movement (drive) in the discharge direction and transmit the control signal to the wireless capsule 1-1. In the case of leaving it, a control signal instructing to end driving (self-running) is generated and transmitted.

  The control system (wireless communication system) according to the present embodiment has been specifically described above. Note that the operation processing shown in FIGS. 8 and 9 is an example, and the present embodiment is not limited to this. For example, in the operation process at the time of the examination described with reference to FIG. 8, when an affected part is found, the stop and treatment process may be performed on the spot. In addition, the wireless capsule 1-1 according to the first embodiment described above has a radio wave transmission unit 16 that transmits only a beacon used as its own location information separately from the wireless communication unit 11, but the beacon is It may be transmitted from the wireless communication unit 11. That is, the configuration of the wireless capsule 1-1 according to the first embodiment may be a configuration in which the radio wave transmission unit 16 is not provided separately. In this case, a beacon is transmitted from the wireless communication unit 11.

<< 3. Second Embodiment >>
<3-1. Configuration>
Next, a control system (wireless communication system) according to the second embodiment will be described. In the first embodiment, the position of the wireless capsule 1-1 is estimated using the beacon transmitted from the radio wave transmission unit 16 or the wireless communication unit 11 of the wireless capsule 1-1. Is not limited to this. For example, the control system according to the present disclosure can estimate the position of the wireless capsule 1 even when a beacon is not transmitted. Hereinafter, a case where the position estimation of the wireless capsule 1 is performed without using a beacon will be described as a second embodiment.

  The control system according to the second embodiment includes a wireless capsule 1-2, a wireless relay device 2-2, and an HMD 3-2. Hereinafter, the configuration of each device forming the control system according to the present embodiment will be described with reference to FIGS.

(3-1-1. Configuration of wireless capsule)
FIG. 11 is a block diagram illustrating an example of a configuration of the wireless capsule 1-2 according to the second embodiment. As illustrated in FIG. 11, the wireless capsule 1-2 according to the present embodiment includes an imaging unit 10, a wireless communication unit 11 (first wireless communication unit), an attitude control unit 12, an attitude sensor unit 13, a power generation unit 14, and a power storage. The unit 15, the drive unit 17, and the treatment unit 18 are included.

  The configuration of the wireless capsule 1-2 according to the present embodiment is different from the configuration of the wireless capsule 1-1 according to the first embodiment described with reference to FIG. .

  In addition, each configuration of the wireless capsule 1-2 is the same as the configuration of the first embodiment, and a specific description thereof is omitted here.

(3-1-2. Configuration of Wireless Relay Device)
FIG. 12 is a block diagram illustrating an example of a configuration of the wireless relay device 2-2 according to the second embodiment. As shown in FIG. 12, the radio relay apparatus 2-2 according to the present embodiment includes a power supply unit 20, a plurality of radio communication units 21′a, 21′b, and 21′c (hereinafter referred to as a plurality of radio communication units 21 ′). And a wireless power supply unit 22.

  Since the power supply unit 20 and the wireless power supply unit 22 are the same as those in the first embodiment, a specific description thereof is omitted here.

  The plurality of wireless communication units 21 ′ (third wireless communication unit) are the same as those in the first embodiment in that data communication is relayed between the wireless capsule 1-2 and the HMD 3-2. Specifically, the wireless communication unit 21 ′ receives the in-vivo image from the wireless capsule 1-2 and transmits it to the HMD 3-2, or receives the control signal from the HMD 3-2 and transmits it to the wireless capsule 1-2. Or

  In addition, the plurality of wireless communication units 21 ′ according to the present embodiment perform transmission / reception of radio waves with each other, and transmit radio wave information (radio wave intensity and / or phase, etc.) received by each to the HMD 3-2. Thereby, the radio wave propagation characteristics between the plurality of radio communication units 21 ′ are measured and used when estimating the position of the radio capsule 1-2 on the HMD 3-2 side.

(3-1-3. Configuration of HMD)
FIG. 13 is a block diagram illustrating an example of the configuration of the HMD 3-2 according to the second embodiment. As illustrated in FIG. 13, the HMD 3-2 according to the present embodiment includes a display control unit 30, a wireless communication unit 31 (second wireless communication unit), a display unit 32, an attitude sensor unit 33, a generation unit 34, and a power supply unit 35. , An operation input unit 36, and a position estimation unit 37 ′.

  The configuration of the HMD 3-2 according to the present embodiment is different from the configuration of the HMD 3-1 according to the first embodiment described with reference to FIG. Each configuration other than the position estimation unit 37 ′ is the same as the configuration of the first embodiment, and a specific description thereof is omitted here.

  The position estimation unit 37 ′ determines the position of the wireless capsule 1-2 in the body based on the radio wave information (information indicating the intensity and / or phase of the radio wave) received by the radio communication unit 31 from the radio relay device 2-2. presume. Specifically, the position estimation unit 37 ′ includes a plurality of wireless units that are measured based on radio wave information received by each of the radio communication units 21 ′ of the radio relay apparatus 2-2 that transmit and receive radio waves. The position of the wireless capsule 1-2 is estimated using a transfer function in the body corresponding to the radio wave propagation characteristics between the communication units 21. Hereinafter, a specific description will be given with reference to FIG.

  FIG. 14 is a diagram for explaining a method of estimating the position of the wireless capsule 1-2 according to the second embodiment. As shown in FIG. 14, before the wireless capsule 1-2 is introduced into the subject 5, the radio wave propagation characteristics between the plurality of wireless communication units 21 'of the wireless relay device 2-2 are measured in advance. As shown in FIG. 14, the radio wave propagation characteristics between the plurality of radio communication units 21 ′ are such that (T1 to Tn) of the plurality of radio communication units 21 ′ of the radio relay apparatus 2-2 transmit radio waves, respectively ( R1 to Rn) are measured based on the received radio wave information. Then, a transfer function in the body (before introduction of the wireless capsule 1-2) is measured according to the measured radio wave propagation characteristics.

  On the other hand, as shown in the lower part of FIG. 14, after the wireless capsule 1-2 is introduced into the subject 5, the radio wave propagation characteristics between the plurality of wireless communication units 21 'of the wireless relay device 2-2 are measured again. As shown in FIG. 14, the radio wave propagation characteristics between the plurality of radio communication units 21 ′ are such that (T1 to Tn) of the plurality of radio communication units 21 ′ of the radio relay apparatus 2-2 transmit radio waves, respectively ( R1 to Rn) are measured based on the received radio wave information. Then, the transfer function in the body (after introducing the wireless capsule 1-2) is measured according to the measured radio wave propagation characteristics.

  The position estimation unit 37 'estimates the position of the wireless capsule 1-2 based on the difference between the transfer functions in the body before and after the introduction of the wireless capsule 1-2. Thus, in the present embodiment, the position of the wireless capsule 1-2 in the body can be estimated even when no beacon radio wave is transmitted from the wireless capsule 1-2.

  The configuration of each device forming the control system (wireless communication system) according to the present embodiment has been specifically described above. Subsequently, an operation process of the control system according to the present embodiment will be described.

<3-2. Operation processing>
Here, as an example, with reference to FIG. 15, an operation process when the wireless capsule 1-2 is used at the time of treatment for the purpose of treatment when the affected part has already been discovered (the position of the affected part is known) is described with reference to FIG. 15. I will explain.

  FIG. 15 is a flowchart showing an operation process during treatment of the control system according to the second embodiment. As shown in FIG. 15, first, in step S303, the wireless capsule 1-2 is introduced into the body of the patient (subject 5).

  Next, in step S306, the HMD 3-2 measures the radio wave propagation characteristics between the plurality of wireless communication units 21 'of the wireless relay device 2-2, and measures the transfer function in the body of the subject 5.

  Next, in step S309, the HMD 3-2 compares the measured in-body transfer function with the in-body transfer function measured in advance before the introduction of the wireless capsule 1-2, and based on the difference, the wireless capsule 1 -2 position is estimated.

  In subsequent steps S315 to S333, processing similar to the processing shown in steps S215 to S233 described with reference to FIG. 9 is performed. Specifically, when it is determined in step S315 that the position of the wireless capsule 1-2 has reached an area close to the affected part (S315 / Yes), the relay device 2-2 is switched from the HMD 3-2 to the relay device 2-2 in subsequent S319 to S333. Various control signals (attitude control signals and treatment control signals) are transmitted to the wireless capsule 1-2 via the. At this time, the wireless communication function of the wireless capsule 1-2 (the function of the wireless communication unit 31) is turned on by control from the HMD 3-2 (or the relay device 2-2 is connected to the wireless capsule 1 by an instruction from the HMD 3-2). -2), a beacon may be transmitted from the wireless communication unit 31.

  The control system according to the second embodiment has been described above. In the present embodiment, the position of the wireless capsule 1-2 can be estimated even when the wireless communication function of the wireless capsule 1-2 is off (when no beacon is transmitted). Further, when the estimated position of the wireless capsule 1-2 is near the affected part (when the wireless capsule 1-2 reaches the affected part), the wireless communication function may be turned on and the beacon may be transmitted from the wireless communication unit 31. Thereby, the position of the wireless capsule 1-2 can be grasped more accurately.

<< 4. Summary >>
As described above, in the control system (wireless communication system) according to the embodiment of the present disclosure, the in-vivo image is displayed in real time on the HMD 3 (an example of a wireless terminal device), and the wireless capsule is changed according to the movement (change in posture) of the HMD 3. It is possible to control one posture (specifically, the imaging direction). As a result, the doctor 6 wearing the HMD 3 can see the in-vivo image in that direction simply by moving the head in the desired direction, and intuitively control the posture of the wireless capsule 1.

  The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present technology is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field of the present disclosure can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that it belongs to the technical scope of the present disclosure.

  For example, a computer for causing hardware such as a CPU, a ROM, and a RAM incorporated in the wireless capsule 1, the wireless relay device 2, or the HMD 3 to exhibit the functions of the wireless capsule 1, the wireless relay device 2, or the HMD 3 described above. Programs can also be created. A computer-readable storage medium storing the computer program is also provided.

  In addition, each step in each flowchart does not necessarily have to be processed in time series in the order disclosed in the accompanying drawings. For example, S106 and S109 shown in FIG. 8 and S219 and S221 shown in FIG. 9 may be processed in parallel.

In addition, this technique can also take the following structures.
(1)
An imaging unit;
An attitude control unit;
A first wireless communication unit that transmits an image captured by the imaging unit and receives a control signal for controlling the attitude control unit;
A power supply unit that supplies power to the imaging unit and the attitude control unit;
A wireless capsule having
A second wireless communication unit that receives the image transmitted from the first wireless communication unit and transmits the control signal;
A display control unit for controlling the display unit to display the image;
An attitude detection unit for detecting the attitude of the display unit;
A generating unit that generates the control signal based on the attitude signal detected by the attitude detecting unit;
A wireless terminal device having
A wireless communication system.
(2)
The wireless terminal device is composed of a head mounted display,
The wireless communication system according to (1), wherein the posture detection unit detects a posture signal according to a movement of a head of a user wearing the head mounted display.
(3)
The generation unit controls the posture of the wireless capsule or the imaging unit provided in the wireless capsule in substantially the same direction as the posture change direction indicated by the posture signal detected by the posture detection unit. The radio communication system according to (1) or (2), wherein the control signal is generated.
(4)
The wireless capsule is
A radio wave transmitter for transmitting radio waves;
A treatment execution unit that performs treatment on the affected area in accordance with an external control signal;
The wireless communication system includes:
A plurality of radio waves transmitted from the radio wave transmitter are transmitted to the radio terminal device according to a control signal received from the radio terminal device. A third wireless communication unit for transmitting a control signal to the wireless capsule;
A wireless power supply unit for supplying wireless power to the wireless capsule;
A wireless relay device having
The second wireless communication unit included in the wireless terminal device receives radio wave information transmitted from the wireless relay device and an image captured by the imaging unit, and supplies wireless power from the wireless relay device. Send a control signal to control,
The generation unit estimates the position of the wireless capsule based on the information of the radio wave, and generates a control signal for controlling the treatment execution unit according to the estimation result, according to (1) to (3) The wireless communication system according to any one of the above.
(5)
The wireless communication system according to (4), wherein the estimation of the position of the wireless capsule is performed based on the intensity and / or phase of the radio wave indicated by the radio wave information.
(6)
The radio wave information is used to estimate the position of the radio capsule after correcting radio wave propagation characteristics between a plurality of the third radio communication units and using a transfer function measured in advance in the body. The wireless communication system according to (5).
(7)
The wireless communication system includes:
A plurality of devices installed at a predetermined position on the body surface or in the body, each transmitting and receiving radio waves, transmitting information on the received radio waves to the wireless terminal device, and receiving a control signal from the wireless terminal device 3 wireless communication units;
A wireless power supply unit for supplying wireless power to the wireless capsule in response to the control signal;
A wireless relay device having
The second wireless communication unit included in the wireless terminal device receives radio wave information transmitted from the wireless relay device, and transmits a control signal for controlling wireless power supply by the wireless relay device,
The generation unit estimates the position of the wireless capsule based on the information of the radio wave, and generates a control signal for starting power supply to the wireless capsule to the wireless relay device according to an estimation result. The wireless communication system according to any one of (1) to (3).
(8)
The estimation of the position of the wireless capsule is based on the in-vivo transfer function measured in advance by measuring the radio wave propagation characteristics between the plurality of third radio communication units, and the radio wave information transmitted from the radio relay device. The wireless communication system according to (7), which is performed based on a difference from a transfer function in the body measured from propagation characteristics between the plurality of third wireless communication units calculated in the above.
(9)
The wireless communication system according to any one of (1) to (8), wherein the wireless capsule further includes at least one drive unit for self-propelled in a body cavity.
(10)
The power supply unit included in the wireless capsule is a plurality of power generation units that generate power by resonating with a plurality of radio waves having different frequencies,
The drive unit is a plurality of drive units that receive power supply from the plurality of power generation units, respectively.
The wireless power supply unit included in the wireless relay device independently supplies wireless power at a plurality of different frequencies in order to control the attitude of the wireless capsule or the imaging unit according to a control signal received from the wireless terminal device. The wireless communication system according to (9).
(11)
A wireless communication unit that receives an image transmitted from the wireless capsule and transmits a control signal for controlling an attitude of the wireless capsule;
A display control unit for controlling the display unit to display the image;
An attitude detection unit for detecting the attitude of the display unit;
A generating unit that generates the control signal based on the attitude signal detected by the attitude detecting unit;
A wireless terminal device.
(12)
Computer
A wireless communication unit that receives an image transmitted from the wireless capsule and transmits a control signal for controlling an attitude of the wireless capsule;
A display control unit for controlling the display unit to display the image;
An attitude detection unit for detecting the attitude of the display unit;
A generating unit that generates the control signal based on the attitude signal detected by the attitude detecting unit;
A storage medium storing a program for functioning as a computer.

1, 1-1, 1-1 ′, 1-2 wireless capsule (capsule type medical device)
2, 2-1, 2-2 Wireless relay device 3 HMD
DESCRIPTION OF SYMBOLS 5 Subject 6 Doctor 10 Imaging part 11 Wireless communication part 12 Posture control part 13 Posture sensor part 14 Power generation part 15 Power storage part 16 Radio wave transmission part 17, 17a, 17b, 17a ', 17b', 17c 'Drive part 18 Treatment part 20 Power supply unit 21, 21 ′ wireless communication unit 22 wireless power supply unit 30 display control unit 31 wireless communication unit 32 display unit 33 attitude sensor unit 34 generation unit 35 power supply unit 36 operation input unit 37, 37 ′ position estimation unit 40 exterior case 41 Transparent cover 321 In-vivo map 322 In-vivo image 323 Posture presentation image

Claims (12)

An imaging unit;
An attitude control unit;
A first wireless communication unit that transmits an image captured by the imaging unit and receives a control signal for controlling the attitude control unit;
A power supply unit that supplies power to the imaging unit and the attitude control unit;
A wireless capsule having
A second wireless communication unit that receives the image transmitted from the first wireless communication unit and transmits the control signal;
A display control unit for controlling the display unit to display the image;
An attitude detection unit for detecting the attitude of the display unit;
A generating unit that generates the control signal based on the attitude signal detected by the attitude detecting unit;
A wireless terminal device having
A wireless communication system. The wireless terminal device is composed of a head mounted display,
The wireless communication system according to claim 1, wherein the posture detection unit detects a posture signal corresponding to a movement of a head of a user wearing the head mounted display.   The generation unit controls the posture of the wireless capsule or the imaging unit provided in the wireless capsule in substantially the same direction as the posture change direction indicated by the posture signal detected by the posture detection unit. The wireless communication system according to claim 1, wherein the control signal is generated. The wireless capsule is
A radio wave transmitter for transmitting radio waves;
A treatment execution unit that performs treatment on the affected area in accordance with an external control signal;
The wireless communication system includes:
A plurality of radio waves transmitted from the radio wave transmitter are transmitted to the radio terminal device according to a control signal received from the radio terminal device. A third wireless communication unit for transmitting a control signal to the wireless capsule;
A wireless power supply unit for supplying wireless power to the wireless capsule;
A wireless relay device having
The second wireless communication unit included in the wireless terminal device receives radio wave information transmitted from the wireless relay device and an image captured by the imaging unit, and supplies wireless power from the wireless relay device. Send a control signal to control,
The wireless communication system according to claim 1, wherein the generation unit estimates a position of the wireless capsule based on the radio wave information, and generates a control signal for controlling the treatment execution unit according to an estimation result. .   The wireless communication system according to claim 4, wherein the position of the wireless capsule is estimated based on the intensity and / or phase of the radio wave indicated by the radio wave information.   The radio wave information is used to estimate the position of the radio capsule after correcting radio wave propagation characteristics between a plurality of the third radio communication units and using a transfer function measured in advance in the body. The wireless communication system according to claim 5. The wireless communication system includes:
A plurality of devices installed at a predetermined position on the body surface or in the body, each transmitting and receiving radio waves, transmitting information on the received radio waves to the wireless terminal device, and receiving a control signal from the wireless terminal device 3 wireless communication units;
A wireless power supply unit for supplying wireless power to the wireless capsule in response to the control signal;
A wireless relay device having
The second wireless communication unit included in the wireless terminal device receives radio wave information transmitted from the wireless relay device, and transmits a control signal for controlling wireless power supply by the wireless relay device,
The generation unit estimates the position of the wireless capsule based on the information of the radio wave, and generates a control signal for starting power supply to the wireless capsule to the wireless relay device according to an estimation result. The wireless communication system according to claim 1.   The estimation of the position of the wireless capsule is based on the in-vivo transfer function measured in advance by measuring the radio wave propagation characteristics between the plurality of third radio communication units, and the radio wave information transmitted from the radio relay device. The radio | wireless communications system of Claim 7 performed based on the difference with the transfer function in a body measured from the propagation characteristic between several said 3rd radio | wireless communication parts calculated by this.   The wireless communication system according to claim 1, wherein the wireless capsule further includes at least one driving unit for self-propelling in a body cavity. The power supply unit included in the wireless capsule is a plurality of power generation units that generate power by resonating with a plurality of radio waves having different frequencies,
The drive unit is a plurality of drive units that receive power supply from the plurality of power generation units, respectively.
The wireless power supply unit included in the wireless relay device independently supplies wireless power at a plurality of different frequencies in order to control the attitude of the wireless capsule or the imaging unit according to a control signal received from the wireless terminal device. The wireless communication system according to claim 9. A wireless communication unit that receives an image transmitted from the wireless capsule and transmits a control signal for controlling an attitude of the wireless capsule;
A display control unit for controlling the display unit to display the image;
An attitude detection unit for detecting the attitude of the display unit;
A generating unit that generates the control signal based on the attitude signal detected by the attitude detecting unit;
A wireless terminal device. Computer
A wireless communication unit that receives an image transmitted from the wireless capsule and transmits a control signal for controlling an attitude of the wireless capsule;
A display control unit for controlling the display unit to display the image;
An attitude detection unit for detecting the attitude of the display unit;
A generating unit that generates the control signal based on the attitude signal detected by the attitude detecting unit;
A storage medium storing a program for functioning as a computer.

Images